원문정보
초록
영어
The Gim tire model was adopted to set up the nonlinear dynamic model of tractor-semitrailer. Choosing the slip angle of tractor, the yaw velocity of tractor, the yaw velocity of semitrailer, and the angle between tractor and semitrailer as control variables, as well as considering the uncertain characteristic of the tire cornering stiffness, the optimal guaranteed cost control scheme was proposed. An optimal guaranteed cost controller of DYC for the tractor-semitrailer stability was developed based on model following technique. Based on the established nonlinear dynamic model, simulation in Matlab/Simulink software environment was described. The simulation results suggest that for the tractor-semitrailer with optimal guaranteed cost controller of DYC, the handling and stability performance on big slip angle is improved. The conclusion can be useful for the system design of tractor-semitrailer.
목차
1. Introduction
2. Nonlinear Tractor-semitrailer Dynamic Model
2.1 Tractor-semitrailer Dynamic Model
2.2. Gim Tire Model
3. Optimal Guaranteed Cost Controller Design
3.1. Linear Tractor-semitrailer Dynamic Model
3.2. Optimal Guaranteed Cost Controller
4. Nonlinear Simulation
5. Conclusion
References